Contact sequence : add method haveFriction

include/multicontact-api/bindings/python/scenario/contact-sequence.hpp

@@ -156,6 +156,9 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
         .def("haveRootTrajectories", &CS::haveRootTrajectories,
              "check that a root trajectory exist for each contact phases.\n"
              "Also check that it start and end at the correct time interval.")
+        .def("haveFriction", &CS::haveFriction,
+             "check that all the contact patch used in the sequence have"
+             "a friction coefficient initialized.")
         .def("getAllEffectorsInContact",&getAllEffectorsInContactAsList,
              "return a list of names of all the effectors used to create contacts during the sequence")
         .def("concatenateCtrajectories", &CS::concatenateCtrajectories,

include/multicontact-api/scenario/contact-sequence.hpp

@@ -804,6 +804,25 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
   }
 
 
+  /**
+   * @brief haveFriction check that all the contact patch used in the sequence have
+   * a friction coefficient initialized
+   * @return
+   */
+  bool haveFriction() const{
+    size_t i = 0;
+    for(const ContactPhase& phase : m_contact_phases){
+      for(const std::string& eeName : phase.effectorsInContact()){
+        if(phase.contactPatches().at(eeName).friction() <= 0.){
+          std::cout<<"Friction not defined for phase "<<i<<" and effector "<<eeName<<std::endl;
+          return false;
+        }
+      }
+      ++i;
+    }
+    return true;
+  }
+
   /**
    * @brief getAllEffectorsInContact return a vector of names of all the effectors used to create contacts during the sequence
    * @return